OpenRaiser/Intern-Atlas huggingface dataset:
Co-Driven Recognition of Semantic Consistency via the Fusion of Transformer and HowNet Sememes Knowledge
Venue: arXiv cs.CL 2023
Year: 2023

Semantic consistency recognition aims to detect and judge whether the semantics of two text sentences are consistent with each other. However, the existing methods usually encounter the challenges of synonyms, polysemy and difficulty to understand long text. To solve the above problems, this paper proposes a co-driven semantic consistency recognition method based on the fusion of Transformer and HowNet sememes knowledge. Multi-level encoding of internal sentence structures via data-driven is carried out firstly by Transformer, sememes knowledge base HowNet is introduced for knowledge-driven to model the semantic knowledge association among sentence pairs. Then, interactive attention calculation is carried out utilizing soft-attention and fusion the knowledge with sememes matrix. Finally, bidirectional long short-term memory network (BiLSTM) is exploited to encode the conceptual semantic information and infer the semantic consistency. Experiments are conducted on two financial text matching datasets (BQ, AFQMC) and a cross-lingual adversarial dataset (PAWSX) for paraphrase identification. Compared with lightweight models including DSSM, MwAN, DRCN, and pre-training models such as ERNIE etc., the proposed model can not only improve the accuracy of semantic consistency recognition effectively (by 2.19%, 5.57% and 6.51% compared with the DSSM, MWAN and DRCN models on the BQ dataset), but also reduce the number of model parameters (to about 16M). In addition, driven by the HowNet sememes knowledge, the proposed method is promising to adapt to scenarios with long text.
Don't guess what's true: choose what's optimal. A probability transducer for machine-learning classifiers
Venue: arXiv cs.LG 2023
Year: 2023

In fields such as medicine and drug discovery, the ultimate goal of a classification is not to guess a class, but to choose the optimal course of action among a set of possible ones, usually not in one-one correspondence with the set of classes. This decision-theoretic problem requires sensible probabilities for the classes. Probabilities conditional on the features are computationally almost impossible to find in many important cases. The main idea of the present work is to calculate probabilities conditional not on the features, but on the trained classifier's output. This calculation is cheap, needs to be made only once, and provides an output-to-probability "transducer" that can be applied to all future outputs of the classifier. In conjunction with problem-dependent utilities, the probabilities of the transducer allow us to find the optimal choice among the classes or among a set of more general decisions, by means of expected-utility maximization. This idea is demonstrated in a simplified drug-discovery problem with a highly imbalanced dataset. The transducer and utility maximization together always lead to improved results, sometimes close to theoretical maximum, for all sets of problem-dependent utilities. The one-time-only calculation of the transducer also provides, automatically: (i) a quantification of the uncertainty about the transducer itself; (ii) the expected utility of the augmented algorithm (including its uncertainty), which can be used for algorithm selection; (iii) the possibility of using the algorithm in a "generative mode", useful if the training dataset is biased.
Maximum Consensus Localization using an Objective Function based on Helmert's Point Error
Venue: arXiv cs.RO 2023
Year: 2023

Ego-localization is a crucial task for autonomous vehicles. On the one hand, it needs to be very accurate, and on the other hand, very robust to provide reliable pose (position and orientation) information, even in challenging environments. Finding the best ego-position is usually tied to optimizing an objective function based on the sensor measurements. The most common approach is to maximize the likelihood, which leads under the assumption of normally distributed random variables to the well-known least squares minimization, often used in conjunction with recursive estimation, e. g. using a Kalman filter. However, least squares minimization is inherently sensitive to outliers, and consequently, more robust loss functions, such as L1 norm or Huber loss have been proposed. Arguably the most robust loss function is the outlier count, also known as maximum consensus optimization, where the outcome is independent of the outlier magnitude. In this paper, we investigate in detail the performance of maximum consensus localization based on LiDAR data. We elaborate on its shortcomings and propose a novel objective function based on Helmert's point error. In an experiment using 3001 measurement epochs, we show that the maximum consensus localization based on the introduced objective function provides superior results with respect to robustness.
Connecting Humanities and Social Sciences: Applying Language and Speech Technology to Online Panel Surveys
Venue: arXiv cs.CL 2023
Year: 2023

In this paper, we explore the application of language and speech technology to open-ended questions in a Dutch panel survey. In an experimental wave respondents could choose to answer open questions via speech or keyboard. Automatic speech recognition (ASR) was used to process spoken responses. We evaluated answers from these input modalities to investigate differences between spoken and typed answers.We report the errors the ASR system produces and investigate the impact of these errors on downstream analyses. Open-ended questions give more freedom to answer for respondents, but entail a non-trivial amount of work to analyse. We evaluated the feasibility of using transformer-based models (e.g. BERT) to apply sentiment analysis and topic modelling on the answers of open questions. A big advantage of transformer-based models is that they are trained on a large amount of language materials and do not necessarily need training on the target materials. This is especially advantageous for survey data, which does not contain a lot of text materials. We tested the quality of automatic sentiment analysis by comparing automatic labeling with three human raters and tested the robustness of topic modelling by comparing the generated models based on automatic and manually transcribed spoken answers.
Few-shot Detection of Anomalies in Industrial Cyber-Physical System via Prototypical Network and Contrastive Learning
Venue: arXiv cs.CR 2023
Year: 2023

The rapid development of Industry 4.0 has amplified the scope and destructiveness of industrial Cyber-Physical System (CPS) by network attacks. Anomaly detection techniques are employed to identify these attacks and guarantee the normal operation of industrial CPS. However, it is still a challenging problem to cope with scenarios with few labeled samples. In this paper, we propose a few-shot anomaly detection model (FSL-PN) based on prototypical network and contrastive learning for identifying anomalies with limited labeled data from industrial CPS. Specifically, we design a contrastive loss to assist the training process of the feature extractor and learn more fine-grained features to improve the discriminative performance. Subsequently, to tackle the overfitting issue during classifying, we construct a robust cost function with a specific regularizer to enhance the generalization capability. Experimental results based on two public imbalanced datasets with few-shot settings show that the FSL-PN model can significantly improve F1 score and reduce false alarm rate (FAR) for identifying anomalous signals to guarantee the security of industrial CPS.
Approximating Bin Packing with Conflict Graphs via Maximization Techniques
Venue: arXiv cs.DS 2023
Year: 2023

We give a comprehensive study of bin packing with conflicts (BPC). The input is a set $I$ of items, sizes $s:I \rightarrow [0,1]$, and a conflict graph $G = (I,E)$. The goal is to find a partition of $I$ into a minimum number of independent sets, each of total size at most $1$. Being a generalization of the notoriously hard graph coloring problem, BPC has been studied mostly on polynomially colorable conflict graphs. An intriguing open question is whether BPC on such graphs admits the same best known approximation guarantees as classic bin packing. We answer this question negatively, by showing that (in contrast to bin packing) there is no asymptotic polynomial-time approximation scheme (APTAS) for BPC already on seemingly easy graph classes, such as bipartite and split graphs. We complement this result with improved approximation guarantees for BPC on several prominent graph classes. Most notably, we derive an asymptotic $1.391$-approximation for bipartite graphs, a $2.445$-approximation for perfect graphs, and a $\left(1+\frac{2}{e}\right)$-approximation for split graphs. To this end, we introduce a generic framework relying on a novel interpretation of BPC allowing us to solve the problem via maximization techniques. Our framework may find use in tackling BPC on other graph classes arising in applications.
$ω$PAP Spaces: Reasoning Denotationally About Higher-Order, Recursive Probabilistic and Differentiable Programs
Venue: arXiv cs.PL 2023
Year: 2023

We introduce a new setting, the category of $ω$PAP spaces, for reasoning denotationally about expressive differentiable and probabilistic programming languages. Our semantics is general enough to assign meanings to most practical probabilistic and differentiable programs, including those that use general recursion, higher-order functions, discontinuous primitives, and both discrete and continuous sampling. But crucially, it is also specific enough to exclude many pathological denotations, enabling us to establish new results about both deterministic differentiable programs and probabilistic programs. In the deterministic setting, we prove very general correctness theorems for automatic differentiation and its use within gradient descent. In the probabilistic setting, we establish the almost-everywhere differentiability of probabilistic programs' trace density functions, and the existence of convenient base measures for density computation in Monte Carlo inference. In some cases these results were previously known, but required detailed proofs with an operational flavor; by contrast, all our proofs work directly with programs' denotations.
Directive Explanations for Monitoring the Risk of Diabetes Onset: Introducing Directive Data-Centric Explanations and Combinations to Support What-If Explorations
Venue: arXiv cs.HC 2023
Year: 2023

Explainable artificial intelligence is increasingly used in machine learning (ML) based decision-making systems in healthcare. However, little research has compared the utility of different explanation methods in guiding healthcare experts for patient care. Moreover, it is unclear how useful, understandable, actionable and trustworthy these methods are for healthcare experts, as they often require technical ML knowledge. This paper presents an explanation dashboard that predicts the risk of diabetes onset and explains those predictions with data-centric, feature-importance, and example-based explanations. We designed an interactive dashboard to assist healthcare experts, such as nurses and physicians, in monitoring the risk of diabetes onset and recommending measures to minimize risk. We conducted a qualitative study with 11 healthcare experts and a mixed-methods study with 45 healthcare experts and 51 diabetic patients to compare the different explanation methods in our dashboard in terms of understandability, usefulness, actionability, and trust. Results indicate that our participants preferred our representation of data-centric explanations that provide local explanations with a global overview over other methods. Therefore, this paper highlights the importance of visually directive data-centric explanation method for assisting healthcare experts to gain actionable insights from patient health records. Furthermore, we share our design implications for tailoring the visual representation of different explanation methods for healthcare experts.
Sim2Real$^2$: Actively Building Explicit Physics Model for Precise Articulated Object Manipulation
Venue: arXiv cs.RO 2023
Year: 2023

Accurately manipulating articulated objects is a challenging yet important task for real robot applications. In this paper, we present a novel framework called Sim2Real$^2$ to enable the robot to manipulate an unseen articulated object to the desired state precisely in the real world with no human demonstrations. We leverage recent advances in physics simulation and learning-based perception to build the interactive explicit physics model of the object and use it to plan a long-horizon manipulation trajectory to accomplish the task. However, the interactive model cannot be correctly estimated from a static observation. Therefore, we learn to predict the object affordance from a single-frame point cloud, control the robot to actively interact with the object with a one-step action, and capture another point cloud. Further, the physics model is constructed from the two point clouds. Experimental results show that our framework achieves about 70% manipulations with <30% relative error for common articulated objects, and 30% manipulations for difficult objects. Our proposed framework also enables advanced manipulation strategies, such as manipulating with different tools. Code and videos are available on our project webpage: https://ttimelord.github.io/Sim2Real2-site/
A Visual Representation-guided Framework with Global Affinity for Weakly Supervised Salient Object Detection
Venue: arXiv cs.CV 2023
Year: 2023

Fully supervised salient object detection (SOD) methods have made considerable progress in performance, yet these models rely heavily on expensive pixel-wise labels. Recently, to achieve a trade-off between labeling burden and performance, scribble-based SOD methods have attracted increasing attention. Previous scribble-based models directly implement the SOD task only based on SOD training data with limited information, it is extremely difficult for them to understand the image and further achieve a superior SOD task. In this paper, we propose a simple yet effective framework guided by general visual representations with rich contextual semantic knowledge for scribble-based SOD. These general visual representations are generated by self-supervised learning based on large-scale unlabeled datasets. Our framework consists of a task-related encoder, a general visual module, and an information integration module to efficiently combine the general visual representations with task-related features to perform the SOD task based on understanding the contextual connections of images. Meanwhile, we propose a novel global semantic affinity loss to guide the model to perceive the global structure of the salient objects. Experimental results on five public benchmark datasets demonstrate that our method, which only utilizes scribble annotations without introducing any extra label, outperforms the state-of-the-art weakly supervised SOD methods. Specifically, it outperforms the previous best scribble-based method on all datasets with an average gain of 5.5% for max f-measure, 5.8% for mean f-measure, 24% for MAE, and 3.1% for E-measure. Moreover, our method achieves comparable or even superior performance to the state-of-the-art fully supervised models.
Scalable Infomin Learning
Venue: arXiv cs.LG 2023
Year: 2023

The task of infomin learning aims to learn a representation with high utility while being uninformative about a specified target, with the latter achieved by minimising the mutual information between the representation and the target. It has broad applications, ranging from training fair prediction models against protected attributes, to unsupervised learning with disentangled representations. Recent works on infomin learning mainly use adversarial training, which involves training a neural network to estimate mutual information or its proxy and thus is slow and difficult to optimise. Drawing on recent advances in slicing techniques, we propose a new infomin learning approach, which uses a novel proxy metric to mutual information. We further derive an accurate and analytically computable approximation to this proxy metric, thereby removing the need of constructing neural network-based mutual information estimators. Experiments on algorithmic fairness, disentangled representation learning and domain adaptation verify that our method can effectively remove unwanted information with limited time budget.
Depth Estimation and Image Restoration by Deep Learning from Defocused Images
Venue: arXiv cs.CV 2023
Year: 2023

Monocular depth estimation and image deblurring are two fundamental tasks in computer vision, given their crucial role in understanding 3D scenes. Performing any of them by relying on a single image is an ill-posed problem. The recent advances in the field of Deep Convolutional Neural Networks (DNNs) have revolutionized many tasks in computer vision, including depth estimation and image deblurring. When it comes to using defocused images, the depth estimation and the recovery of the All-in-Focus (Aif) image become related problems due to defocus physics. Despite this, most of the existing models treat them separately. There are, however, recent models that solve these problems simultaneously by concatenating two networks in a sequence to first estimate the depth or defocus map and then reconstruct the focused image based on it. We propose a DNN that solves the depth estimation and image deblurring in parallel. Our Two-headed Depth Estimation and Deblurring Network (2HDED:NET) extends a conventional Depth from Defocus (DFD) networks with a deblurring branch that shares the same encoder as the depth branch. The proposed method has been successfully tested on two benchmarks, one for indoor and the other for outdoor scenes: NYU-v2 and Make3D. Extensive experiments with 2HDED:NET on these benchmarks have demonstrated superior or close performances to those of the state-of-the-art models for depth estimation and image deblurring.
Clustered Data Sharing for Non-IID Federated Learning over Wireless Networks
Venue: arXiv cs.LG 2023
Year: 2023

Federated Learning (FL) is a novel distributed machine learning approach to leverage data from Internet of Things (IoT) devices while maintaining data privacy. However, the current FL algorithms face the challenges of non-independent and identically distributed (non-IID) data, which causes high communication costs and model accuracy declines. To address the statistical imbalances in FL, we propose a clustered data sharing framework which spares the partial data from cluster heads to credible associates through device-to-device (D2D) communication. Moreover, aiming at diluting the data skew on nodes, we formulate the joint clustering and data sharing problem based on the privacy-preserving constrained graph. To tackle the serious coupling of decisions on the graph, we devise a distribution-based adaptive clustering algorithm (DACA) basing on three deductive cluster-forming conditions, which ensures the maximum yield of data sharing. The experiments show that the proposed framework facilitates FL on non-IID datasets with better convergence and model accuracy under a limited communication environment.
Benchmarking sparse system identification with low-dimensional chaos
Venue: arXiv cs.LG 2023
Year: 2023

Sparse system identification is the data-driven process of obtaining parsimonious differential equations that describe the evolution of a dynamical system, balancing model complexity and accuracy. There has been rapid innovation in system identification across scientific domains, but there remains a gap in the literature for large-scale methodological comparisons that are evaluated on a variety of dynamical systems. In this work, we systematically benchmark sparse regression variants by utilizing the dysts standardized database of chaotic systems. In particular, we demonstrate how this open-source tool can be used to quantitatively compare different methods of system identification. To illustrate how this benchmark can be utilized, we perform a large comparison of four algorithms for solving the sparse identification of nonlinear dynamics (SINDy) optimization problem, finding strong performance of the original algorithm and a recent mixed-integer discrete algorithm. In all cases, we used ensembling to improve the noise robustness of SINDy and provide statistical comparisons. In addition, we show very compelling evidence that the weak SINDy formulation provides significant improvements over the traditional method, even on clean data. Lastly, we investigate how Pareto-optimal models generated from SINDy algorithms depend on the properties of the equations, finding that the performance shows no significant dependence on a set of dynamical properties that quantify the amount of chaos, scale separation, degree of nonlinearity, and the syntactic complexity.
Curiosity-driven Exploration in Sparse-reward Multi-agent Reinforcement Learning
Venue: arXiv cs.AI 2023
Year: 2023

Sparsity of rewards while applying a deep reinforcement learning method negatively affects its sample-efficiency. A viable solution to deal with the sparsity of rewards is to learn via intrinsic motivation which advocates for adding an intrinsic reward to the reward function to encourage the agent to explore the environment and expand the sample space. Though intrinsic motivation methods are widely used to improve data-efficient learning in the reinforcement learning model, they also suffer from the so-called detachment problem. In this article, we discuss the limitations of intrinsic curiosity module in sparse-reward multi-agent reinforcement learning and propose a method called I-Go-Explore that combines the intrinsic curiosity module with the Go-Explore framework to alleviate the detachment problem.
Minimax-Bayes Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

While the Bayesian decision-theoretic framework offers an elegant solution to the problem of decision making under uncertainty, one question is how to appropriately select the prior distribution. One idea is to employ a worst-case prior. However, this is not as easy to specify in sequential decision making as in simple statistical estimation problems. This paper studies (sometimes approximate) minimax-Bayes solutions for various reinforcement learning problems to gain insights into the properties of the corresponding priors and policies. We find that while the worst-case prior depends on the setting, the corresponding minimax policies are more robust than those that assume a standard (i.e. uniform) prior.
DSL-Assembly: A Robust and Safe Assembly Strategy
Venue: arXiv cs.RO 2023
Year: 2023

A reinforcement learning (RL) based method that enables the robot to accomplish the assembly-type task with safety regulations is proposed. The overall strategy consists of grasping and assembly, and this paper mainly considers the assembly strategy. Force feedback is used instead of visual feedback to perceive the shape and direction of the hole in this paper. Furthermore, since the emergency stop is triggered when the force output is too large, a force-based dynamic safety lock (DSL) is proposed to limit the pressing force of the robot. Finally, we train and test the robot model with a simulator and build ablation experiments to illustrate the effectiveness of our method. The models are independently tested 500 times in the simulator, and we get an 88.57% success rate with a 4mm gap. These models are transferred to the real world and deployed on a real robot. We conducted independent tests and obtained a 79.63% success rate with a 4mm gap. Simulation environments: https://github.com/0707yiliu/peg-in-hole-with-RL.